{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "四元素转姿态角度"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 53,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 54,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp,q0,q1,q2,q3) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_attitude_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0,4, 5, 6, 7),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 55,
   "metadata": {},
   "outputs": [],
   "source": [
    "roll = np.arctan2(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "metadata": {},
   "outputs": [],
   "source": [
    "pitch = np.arcsin(2*(q0*q2-q1*q3))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 57,
   "metadata": {},
   "outputs": [],
   "source": [
    "yaw = np.arctan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "姿态角期望值"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 58,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp_sp,roll_sp,pitch_sp,yaw_sp) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_attitude_setpoint_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0, 1, 2, 3),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 59,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pylab as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 66,
   "metadata": {},
   "outputs": [],
   "source": [
    "ref_time=(time_stamp-time_stamp[28941])/1000000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 67,
   "metadata": {},
   "outputs": [],
   "source": [
    "ref_time_sp=(time_stamp_sp-time_stamp_sp[9073])/1000000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 78,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"roll\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"roll (rad)\")\n",
    "figure1 = ax.plot(ref_time[28941:38891], roll[28941:38891],label='roll', c='red', lw=0.7)\n",
    "figure2 = ax.plot(ref_time_sp[9073:12173], roll_sp[9073:12173],label='roo_sp', c='blue', lw=0.7)\n",
    "\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_roll.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 79,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"pitch\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"pitch (rad)\")\n",
    "figure1 = ax.plot(ref_time[28941:38891], pitch[28941:38891],label='pitch', c='red', lw=0.7)\n",
    "figure2 = ax.plot(ref_time_sp[9073:12173], pitch_sp[9073:12173],label='pitch_sp', c='blue', lw=0.7)\n",
    "\n",
    "plt.legend(loc='upper left')\n",
    "\n",
    "plt.savefig('D:/taking_off_pitch.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 80,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"yaw\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"yaw (rad)\")\n",
    "figure1 = ax.plot(ref_time[28941:38891], yaw[28941:38891],label='yaw', c='red', lw=0.7)\n",
    "figure1 = ax.plot(ref_time_sp[9073:12173], yaw_sp[9073:12173],label='yaw_sp', c='blue', lw=0.7)\n",
    "\n",
    "plt.legend(loc='lower left')\n",
    "\n",
    "plt.savefig('D:/taking_off_yaw.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[ 0.01856593  0.01857244  0.0185752  ... -0.11067533 -0.11129365\n",
      " -0.11147959]\n"
     ]
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"hight_time\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"h (m)\")\n",
    "figure1 = ax.plot(ref_time[:], yaw[:],label='yaw', c='black')\n",
    "#figure2 = ax.plot(ref_time[28941:38891], pitch[28941:38891],label='pitch', c='blue')\n",
    "#figure3 = ax.plot(ref_time[28941:38891], yaw[28941:38891],label='yaw', c='red')\n",
    "\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/yaw.png',dpi=1000,bbox_inches = 'tight')"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
